EP3899577A1 - Einrichtung zum betreiben einer lichtquelle zur optischen laufzeitmessung - Google Patents
Einrichtung zum betreiben einer lichtquelle zur optischen laufzeitmessungInfo
- Publication number
- EP3899577A1 EP3899577A1 EP19828658.5A EP19828658A EP3899577A1 EP 3899577 A1 EP3899577 A1 EP 3899577A1 EP 19828658 A EP19828658 A EP 19828658A EP 3899577 A1 EP3899577 A1 EP 3899577A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- light source
- signal
- pulse
- monitoring circuit
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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- 230000003287 optical effect Effects 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 40
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- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims description 35
- 238000005070 sampling Methods 0.000 claims description 6
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- 230000000737 periodic effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
Definitions
- the present invention relates generally to a device for operating a light source for optical transit time measurement.
- Various methods for optical transit time measurement are generally known, which can be based on the so-called time-of-flight principle, in which the transit time of a light signal emitted and reflected by an object is measured in order to determine the distance to the object on the basis of the transit time.
- sensors are used which are based on the so-called LIDAR principle (Light Detection and Ranging), in which pulses are periodically emitted to scan the surroundings and the reflected pulses are detected.
- LIDAR principle Light Detection and Ranging
- a corresponding method and a device are known for example from WO 2017/081294.
- the present invention provides a device for operating a light source for optical transit time measurement, comprising:
- a light source which is set up to generate light pulses according to a
- a monitoring circuit for monitoring a light power emitted by the light source based on a current signal and / or voltage signal of the light source.
- some exemplary embodiments relate to a device for
- a light source which is set up to generate light pulses according to a
- a monitoring circuit for monitoring a light power emitted by the light source based on a current signal and / or voltage signal of the light source.
- the device can generally be used in a LIDAR system or the like and can be used, for example, in the motor vehicle environment, without the present invention being restricted to these cases. Consequently, in some exemplary embodiments, the device also includes a corresponding detector or sensor, for example based on SPAD (single avalanche photo diode) technology, CAPD (current assisted photo diode) technology, CMOS
- SPAD single avalanche photo diode
- CAPD current assisted photo diode
- the device can be set up to determine the transit time of the emitted light pulses and, based on this, for example, to determine the distance between the device and the object, a three-dimensional image of the object or the like.
- the light source can comprise one or more laser elements, for example laser diodes, VCSEL (Vertical Surface Emitting Laser) or the like, or can also be based on LED (Light Emitting Diode) technology or the like.
- laser diodes for example laser diodes, VCSEL (Vertical Surface Emitting Laser) or the like, or can also be based on LED (Light Emitting Diode) technology or the like.
- LED Light Emitting Diode
- the light source should be safe for the eyes (“eye safe”), as it is for some light sources, especially lasers
- the monitoring circuit monitors the light power emitted by the light source, the light source in some embodiments, for example.
- the light source emits light pulses, in some exemplary embodiments it is necessary to integrate or add up the emitted light energy in order to monitor the emitted light output.
- the current pulses with which the light source is operated based on the pulse sequence are in a range from 2 to 10 nanoseconds long, without restricting the present invention thereto. Accordingly, it was also recognized that a conventional analog-to-digital converter or converter in a range from 1 GHz to 5 GHz would be required to digitize the current signal, such converters typically being expensive and requiring high power (e.g. greater than 500 Milli-watts, so
- the determination of the distance is based on the so-called TCSPC (time correlated single photon couting) measuring principle
- the light source can emit light pulses periodically, for example at a high frequency of every two microseconds in a 300 meter range, without restricting the present invention to this specific example.
- the device can comprise a (start) pulse generator for generating a pulse signal, wherein the pulse signal can serve as a start pulse for the measurements and also as a basis for generating the pulse signal sequence.
- light pulses can be five to twenty nanoseconds in length for measurement, and in some embodiments the pulse sequence represents a bit sequence, e.g. B. a 16 bit pseudo-random bit sequence, so that, for example.
- the monitoring circuit comprises an on-time monitor, which is set up to monitor whether the continuous
- Switch-on time of the light source is less than a predefined switch-on time threshold.
- the on-time monitor can, for example, analyze a voltage signal from the light source which has a certain value when the light source is active and no or a lower value when the light source is not active.
- the switch-on time can be proportional to the light energy or light output.
- the monitoring circuit includes a duty cycle monitor that is configured to monitor whether a
- Duty cycle of the light pulses (e.g. based on the pulse signal and the current / voltage signal) is smaller than a predetermined duty cycle threshold.
- the key ratio monitor can, for example, integrate a pulse train of light pulses, which is based on the pulse sequence, based on the current / voltage signal in such a way that all active light pulses of the pulse train are taken into account. This can be done by determining all bits of the pulse sequence in which the
- Light source is active (e.g. all bits with the value "1" or "0").
- the pulse duty factor threshold value can, for example, be selected such that it specifies that the light source was not active for more than 8 bit periods (eg 80 ns).
- the monitoring circuit includes a window monitor that is configured to monitor whether the light source is activated outside the pulse sequence. For example, a malfunction of the light source can be detected if, for. B. the light source is not deactivated after the pulse sequence or no longer responds to it correctly.
- the device includes one
- Pulse sequence generator which is set up to convert the pulse signal sequence, e.g. B.
- the device can also further comprise a pulse window generator which generates a pulse window based on the pulse signal, the start of the pulse window being generated, for example, when the pulse signal is received, and the end of the pulse window being generated after the pulse train has expired.
- the pulse window itself can be represented, for example, by a corresponding signal and represents the active time of the light source (based on a pulse train).
- the monitoring circuit comprises a first converter for time-correlated sampling of the current signal from the light source (and for outputting a corresponding sampled and digitized one
- Fast time-to-digital converters are generally known and can, for example, have a time resolution of better than 500 picoseconds.
- the current signal from the light source can be digitized inexpensively and with high time resolution.
- the monitoring circuit includes a second converter for time-correlated sampling of the voltage signal from the light source (and for outputting a corresponding sampled and
- the analog waveform of the current signal or the voltage signal can be sampled sequentially, since in some exemplary embodiments it is synchronous and periodic with the TCSPC measurement cycle.
- the monitoring circuit comprises an energy calculator which is set up to calculate an electrical energy value based on the current signal and / or voltage signal of the light source and to calculate an overall light output or pulse energy based thereon (e.g.
- the energy calculator can, for example, simply calculate the energy by multiplying the voltage value U by the current value I, the current value I being determined by integrating the current signal originating from the first converter, and the voltage value U can either be a model-based value (e.g. due to determined a linear relationship with the current value I or determined on the basis of a monotonically increasing function that has a unique function for the relationship between
- Voltage signal can be determined.
- the device further includes one
- T emperature compensator which is set up to correct the emitted light output based on the electrical energy value and an operating temperature value of the light source.
- the emitted light output can correlate with the temperature, for example the efficiency falling with the increase in temperature, so that a higher current which flows through the light source does not necessarily have to be associated with a higher emitted optical energy.
- the required electrical energy can increase in correlation with the temperature increase that is required for the same emitted light energy.
- the temperature compensator can take this effect into account by, for example, a
- Light output which is based on the charging of the current and / or voltage signal, corrected according to the current temperature or by setting a reference value corrected with which, for example, the electrical energy determined by the energy calculator is compared.
- the light source comprises a temperature sensor that detects the operating temperature value of the light source
- the device includes a measuring resistor (e.g. shunt resistor) that outputs a voltage sensing signal based on a current signal from the light source.
- a differential frequency amplifier can be provided, which amplifies the voltage scanning signal of the measuring resistor.
- the device can comprise a comparator which compares the voltage scanning signal with a reference value and, based on this, a status signal
- the status signal can, for example, be a “light source on” signal that signals that the light source is active.
- the monitoring circuit comprises error logic, which is set up to deactivate the light source based on the monitoring of the light power emitted by the light source.
- the device discussed herein can be integrated in a transit time measuring device, such as. B. a LI DAR measuring device, which in turn can be integrated or provided in a motor vehicle or another device.
- a transit time measuring device such as. B. a LI DAR measuring device, which in turn can be integrated or provided in a motor vehicle or another device.
- the device described can also be used in an autonomously operated (motor vehicle.
- LIDAR measuring device Operating a LIDAR measuring device or the like), which is carried out, for example, by a device described herein. Some embodiments also relate to a (computer) program that receives instructions that, when executed on a processor or computer, result in the method described herein being carried out.
- Some embodiments also relate to a computer readable medium that receives a program or instructions that, when executed on a processor or computer, result in the program or method described herein being executed.
- monitoring of critical parameters of eye safety is accordingly provided.
- the light source can be switched off by a corresponding signal if a violation of a parameter that is relevant to eye safety is detected.
- a start pulse signal can be used to monitor the on-time of the light source (e.g. the laser).
- the light source is switched off when a switch-on time (“t_on_max” of, for example, seven or five nanosecond pulses) is exceeded.
- t_on_max of, for example, seven or five nanosecond pulses
- the light source can also be switched off if it is active outside the pulse window and / or if one
- Pulse sequence exceeds a duty cycle threshold.
- the average and the peak current value of the light source are also monitored, for example on the basis of a TDC circuit below
- Fig. 1 shows a first embodiment of a device for operating a
- Fig. 2 illustrates a second embodiment of a device for operating a light source for optical transit time measurement.
- 1 illustrates a circuit diagram of a first exemplary embodiment of a device 1 for operating a laser diode 2 for optical transit time measurement with a monitoring circuit 3 for monitoring the eye safety of the operation of the laser diode 2.
- a start pulse generator 4 of the device 1 outputs periodic trigger signals to start a LI DAR pulse measurement, e.g. B. a single measurement within a TCSPC cycle.
- the periodic trigger signals or pulse signals are generated by one
- Receive pulse sequence generator 5 which generates a pulse sequence in response by transforming the periodic pulse signals into the pulse sequence, which can be, for example, a 16-bit sequence of "0" and “1", a "1" being a switch-on or activation of the laser (laser diode) 2, so that the laser 2 emits light pulses according to the pulse sequence.
- the pulse sequence is serialized with a 10 ns bit period. In the present exemplary embodiment, the length of a pulse train of light signals is 160 ns.
- the pulse train can basically have any combination of "1" and "0” with a certain boundary condition for the "1", since this determines the on-time of the laser 2, so that the total number of "1" together with the pulse frequency is the average Laser power defined.
- the pulse train can also have only a single light pulse.
- the pulse sequence generator 5 outputs the pulse sequence to a laser driver 6, which converts the pulse sequence into high-current signals for operating the laser diode 2.
- the laser driver 6 is connected to a laser switch 7, on which one
- S is present, which is supplied to the laser driver 6 when the laser switch 7 is switched on.
- the laser switch 7 can switch off the laser diode 2 if, for example, the laser driver 6 has a malfunction, is defective or a short-circuit situation occurs, which Laser diode 2 can permanently emit light (pulse), which would be critical with regard to eye safety, and it also represents a redundant control path, since in addition to the laser driver 6, the laser switch 7 can also switch off the laser diode.
- the laser switch 7 can receive a corresponding switch-off signal from the monitoring circuit 3, as will also be explained in more detail below.
- the current flowing through the laser diode 2 is measured by the voltage drop across a shunt resistor 8, which is connected to the laser diode 2.
- the sampled voltage is supplied to a differential amplifier 9, which amplifies the small sampling voltage signal and outputs it to a comparator 10.
- the comparator 10 compares the amplified voltage scanning signal with a reference value and outputs a corresponding laser status signal which indicates whether the laser diode is on (voltage scanning signal greater than the reference value) or off (voltage scanning signal less than the reference value).
- the signal which is output by the comparator 10 is a laser-on signal in the present exemplary embodiment and the first rising edge of this signal can be used to start the TDCs for the time-of-flight measurement.
- the start pulse generator 4 also delivers the pulse signal to a pulse window generator 11, so that the start pulse generator 4 triggers the pulse window generator 11.
- the pulse window generator outputs a window signal which is set “high” (start of the window) as soon as the start pulse has been received and set to "low” (end of the window) after the maximum time of the pulse train, i.e. B. after 160 ns, which corresponds to the length of the pulse train in this embodiment.
- the laser-on signal of the comparator 10 is supplied to the monitoring circuit 3, which has three monitors, namely an on-time monitor 12, one
- the on-time monitor 12 checks whether the continuous on-time of the laser diode 2 (without interruption) does not exceed a predefined on-time threshold. For example, the laser diode 2 must not be activated longer than for two consecutive pulses, ie two consecutive “1” of the pulse sequence. Accordingly, the on-time monitor 12 outputs an error signal to an error logic 15 if the switch-on time or activation time therein
- Embodiment is above a turn-on time threshold of 22 ns, the 22 ns resulting from the turn-on time of 20 ns for two pulses with an added tolerance of 2 ns.
- the duty cycle monitor 13 accumulates or integrates the on times of the
- the window monitor 14 checks that the laser diode 2 is not outside the
- Pulse sequence window (window signal), which is supplied by the pulse window generator 11, is operated or activated.
- a malfunction of the system can be recognized if, for example, the laser driver 6 has a malfunction, is defective or the like and, for example, does not switch off at the end of a pulse sequence.
- the window monitor 14 also outputs an error signal to the error logic 15.
- the error logic 15 combines the error signals which it receives from the monitors 12 to 14 and in the event of an error it sends a corresponding one
- the error logic 15 can also one
- FIG. 2 illustrates a circuit diagram of a second exemplary embodiment of a device 20 for operating a laser diode 21 for optical transit time measurement with a monitoring circuit 22 for monitoring the eye safety of the operation of the laser diode 21.
- a start pulse generator 23 of the device 20 outputs periodic trigger signals to start an LI DAR pulse measurement, e.g. B. a single measurement within a TCSPC cycle.
- the periodic trigger signals or pulse signals are generated by one
- Receive pulse sequence generator 24 which in response generates a pulse sequence by transforming the periodic pulse signals into the pulse sequence, which can be, for example, a 16-bit sequence of "0" and "1", with a "1" being a switch-on or activation of the laser (laser diode) 21, so that the laser 21
- the pulse sequence is serialized with a 10 ns bit period.
- the length of a pulse train of light signals is 160 ns.
- the pulse train can basically have any combination of “1” and “0” with a certain boundary condition for the “1”, since this determines the on-time of the laser 21, so that the total number of “1” together with the pulse frequency is the average Define laser power.
- the pulse sequence generator 24 outputs the pulse sequence to a laser driver 6, which converts the pulse sequence into high signals (current signals) for operating the laser diode 21.
- the laser driver 25 is connected to a laser switch 26, on the one
- the laser switch 26 can switch off the laser diode 21 if, for example
- Laser driver 25 has a malfunction, is defective or a short circuit situation occurs, which causes the laser diode 21 to permanently emit light (pulse), which would be critical with regard to eye safety, and it also represents a redundant control path, since in addition to the laser driver 25, the Laser switch 26 can turn off the laser diode 21. In addition, the laser switch 26 can receive a corresponding switch-off signal from the monitoring circuit 22, as will also be explained in more detail below.
- the current flowing through the laser diode 21 is measured by the voltage drop across a shunt resistor 27, which is connected to the laser diode 21.
- the sampled voltage is supplied to a differential amplifier 28, which amplifies the small sampling voltage signal and outputs it to a comparator 29.
- the comparator 29 compares the amplified voltage scanning signal with a reference value and outputs a corresponding laser status signal which indicates whether the laser diode 21 is on (voltage scanning signal greater than the reference value) or off (voltage scanning signal less than the reference value).
- the signal which is output by the comparator 29 is a laser-on signal in the present exemplary embodiment and the first rising edge of this signal can be used to start the TDCs for the time-of-flight measurement and also to set the to start both TCADCs 30 and 31 (see also below) of the monitoring circuit 22.
- the start pulse of the start pulse generator 23 can also be used for this, the output signal of the comparator 29 being slightly delayed and not influenced by the laser driver 25 due to jitter.
- TCADCs 30 and 31 may be configured as disclosed in German Patent Application No. 102018220688.0, the contents of which are incorporated by reference in their entirety.
- the monitoring circuit has a first TCADC 30 (time-correlated analog-to-digital converter), also called a first converter 30, and a second TCADC 31, also called a second converter 31.
- the first TCADC 30 samples the analog current signal generated by the
- the if 28 is delivered, time-correlated and after a TCSPC cycle z.
- B. a hundred pulse repetitions a sampled current signal available for further processing, which is supplied to an energy calculator 32.
- the second TCADC 31 samples the analog voltage signal of the “high side” of the
- Laser diode 21 time correlated from and after a TCSPC cycle or z. B. a hundred pulse repetitions, the second TCADC 31 provides a sampled voltage signal for further processing, which is also supplied to the energy calculator 32.
- the energy calculator 32 calculates the total pulse energy (total electrical energy generated by the laser diode 21) based on the digitized current signal from the first TCADC 30 and the digitized voltage signal from the second TCADC 31 as soon as available (e.g. after a hundred pulse repetitions) has flowed and corresponds to an emitted light output) by multiplying the integral over the voltage signal by the integral over the current signal.
- the voltage value can be assumed as a constant or, for example, via a linear (or as described above monotonous) relationship with the
- the value of the total pulse energy (here correspondingly the total electrical energy) is supplied to a comparator 33 which measures the value of the total
- the error logic 34 compares pulse energy with a reference value and if the reference value is exceeded, a corresponding error signal is output to an error logic 34, the error logic 34 in response to the error signal outputing an appropriate shutdown signal to the laser switch 26, which then turns off the laser diode 21.
- the error logic 34 can also receive other error signals.
- a temperature sensor 35 is provided on the laser diode 21, which determines the operating temperature of the laser diode 21 and a corresponding temperature signal to a temperature compensator 36
- Monitoring circuit 22 delivers.
- the temperature compensator 36 monitors the temperature of the laser diode 21 based on the received temperature signal.
- the measured electrical energy (by scanning the TCADCS 30 and 31 and calculated by the energy calculator 32), which is consumed by the laser diode 21, is linked to the emitted light output via the optical efficiency of the laser diode 21, the efficiency or the efficiency of the Laser diode 21 is temperature-dependent, so that the efficiency decreases with increasing temperature, in particular at a temperature of over 60 ° C in this embodiment.
- the temperature compensator 36 has a relationship between the emitted optical light power and the operating temperature stored in its memory and can communicate the reference value stored there based on the current operating temperature by communication with the comparator 33
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018222049.2A DE102018222049A1 (de) | 2018-12-18 | 2018-12-18 | Einrichtung zum Betreiben einer Lichtquelle zur optischen Laufzeitmessung |
PCT/EP2019/085302 WO2020127013A1 (de) | 2018-12-18 | 2019-12-16 | Einrichtung zum betreiben einer lichtquelle zur optischen laufzeitmessung |
Publications (1)
Publication Number | Publication Date |
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EP3899577A1 true EP3899577A1 (de) | 2021-10-27 |
Family
ID=69056013
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19828658.5A Pending EP3899577A1 (de) | 2018-12-18 | 2019-12-16 | Einrichtung zum betreiben einer lichtquelle zur optischen laufzeitmessung |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220057493A1 (de) |
EP (1) | EP3899577A1 (de) |
JP (1) | JP2022514751A (de) |
KR (1) | KR102527537B1 (de) |
CN (1) | CN113272679A (de) |
CA (1) | CA3133611A1 (de) |
DE (1) | DE102018222049A1 (de) |
IL (1) | IL284058A (de) |
WO (1) | WO2020127013A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102021101584B3 (de) | 2021-01-25 | 2022-03-10 | Elmos Semiconductor Se | Mechanikloses ISO26262 konformes LIDAR-System |
DE102021128923A1 (de) | 2021-01-25 | 2022-07-28 | Elmos Semiconductor Se | Mechanikloses ISO26262 konformes LIDAR-System |
DE102021119239A1 (de) | 2021-07-26 | 2023-01-26 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer optischen Detektionsvorrichtung, optische Detektionsvorrichtung zur Überwachung wenigstens eines Überwachungsbereichs und Fahrzeug mit wenigstens einer Detektionsvorrichtung |
KR102596435B1 (ko) * | 2021-12-08 | 2023-11-01 | 한국전자기술연구원 | ToF 센서 장치 및 이를 이용한 거리 판단 방법 |
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DE4002356C2 (de) * | 1990-01-26 | 1996-10-17 | Sick Optik Elektronik Erwin | Abstandsmeßgerät |
JPH08170987A (ja) * | 1994-12-19 | 1996-07-02 | Mitsubishi Electric Corp | 距離測定装置及び距離測定装置の制御方法 |
AT406093B (de) * | 1998-05-19 | 2000-02-25 | Perger Andreas Dr | Verfahren zur optischen entfernungsmessung |
DE10256429A1 (de) * | 2002-12-02 | 2004-06-24 | Gerd Reime | Verfahren und Anordnung zum Messen eines modulierten Lichtsignals |
JP2005257323A (ja) * | 2004-03-09 | 2005-09-22 | Denso Corp | 距離検出装置 |
US7767945B2 (en) * | 2005-11-23 | 2010-08-03 | Raytheon Company | Absolute time encoded semi-active laser designation |
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CN102014548B (zh) * | 2010-09-07 | 2011-12-14 | 凹凸电子(武汉)有限公司 | 调整光源亮度的控制器、方法以及照明系统 |
JP6537011B2 (ja) * | 2014-08-28 | 2019-07-03 | 株式会社リコー | 光走査装置、物体検出装置及びセンシング装置 |
EP3168641B1 (de) | 2015-11-11 | 2020-06-03 | Ibeo Automotive Systems GmbH | Verfahren und vorrichtung zur optischen distanzmessung |
US10627490B2 (en) * | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
FR3056304B1 (fr) * | 2016-09-16 | 2020-06-19 | Valeo Comfort And Driving Assistance | Circuit electronique et capteur de temps de vol comprenant un tel circuit electronique |
DE102018220688A1 (de) | 2018-11-30 | 2020-06-04 | Ibeo Automotive Systems GmbH | Analog-Digital-Wandler |
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2018
- 2018-12-18 DE DE102018222049.2A patent/DE102018222049A1/de active Pending
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2019
- 2019-12-16 WO PCT/EP2019/085302 patent/WO2020127013A1/de unknown
- 2019-12-16 EP EP19828658.5A patent/EP3899577A1/de active Pending
- 2019-12-16 KR KR1020217020167A patent/KR102527537B1/ko active IP Right Grant
- 2019-12-16 CA CA3133611A patent/CA3133611A1/en active Pending
- 2019-12-16 JP JP2021535211A patent/JP2022514751A/ja active Pending
- 2019-12-16 CN CN201980081541.2A patent/CN113272679A/zh active Pending
- 2019-12-16 US US17/415,533 patent/US20220057493A1/en active Pending
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DE102018222049A1 (de) | 2020-06-18 |
CN113272679A (zh) | 2021-08-17 |
KR102527537B1 (ko) | 2023-05-03 |
US20220057493A1 (en) | 2022-02-24 |
CA3133611A1 (en) | 2020-06-25 |
WO2020127013A1 (de) | 2020-06-25 |
JP2022514751A (ja) | 2022-02-15 |
IL284058A (en) | 2021-08-31 |
KR20210094637A (ko) | 2021-07-29 |
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